[ros-users] navigation on P3DX very slow.

[ian_wk]

Hi community,

I tried to navigate the p3dx with navigation stack. I tweak with the
base_local_planner parameter for the past 2 days but it does not seem to
improve. 

This is what i get from roswtf
Loaded plugin tf.tfwtf
No package or stack in context
================================================================================
Static checks summary:

No errors or warnings
================================================================================
Beginning tests of your ROS graph. These may take awhile...
analyzing graph...
... done analyzing graph
running graph rules...
connection to [/rxplot_2558_1291289166766] timed out
... done running graph rules
running tf checks, this will take a second...
... tf checks complete

Online checks summary:

Found 2 warning(s).
Warnings are things that may be just fine, but are sometimes at fault

WARNING The following node subscriptions are unconnected:
 * /amcl:
   * /reset_time
 * /teleop_joy:
   * /des_vel
 * /move_base_node:
   * /odom
   * /tf_message
   * /reset_time
   * /move_base/cancel
 * /rviz_1291288565569367522:
   * /reset_time
   * /base_scan
 * /p2os:
   * /cmd_motor_state
   * /ptz_control
   * /gripper_control

WARNING The following nodes are unexpectedly connected:
 * /p2os->/rosout (/rosout)
 * /laser_tf_base->/rosout (/rosout)
 * /hokuyo_node->/rosout (/rosout)
 * /rostopic_2407_1291288724637->/rosout (/rosout)
 * /map_server->/rosout (/rosout)
 * /rostopic_2526_1291289011971->/rosout (/rosout)
 * /pioneer_joy_controller->/rosout (/rosout)
 * /rviz_1291288565569367522->/rosout (/rosout)
 * /amcl->/rosout (/rosout)
 * /rxconsole_1291288570344857959->/rosout (/rosout)
 * /rxplot_2558_1291289166766->/rosout (/rosout)
 * /move_base_node->/rosout (/rosout)
 * /teleop_joy->/rosout (/rosout)

Can anyone point out is there anything wrong? 
I try to echo odom when I was running navigation but nothing is displayed. I
am using p2os driver to communicate with the base.

I also notice that whenever i sent a goal, it will take some time (approx
20-30s) before p3dx start to move, it will move very slowly. Sometime when
it reaches some distance, it will start to pause again. 

Any inputs are welcome.. thanks alot =D

Cheers,
Ian_wk

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